Glenn Roeder moved to increase his defensive options following a long-term injury to left-back Adam Drury, who has a knee ligament problem that could keep him out for the season.
Camara, 32, joined Derby last season and helped them win promotion to the Premier League. He has featured only twice this season, scoring in the penalty defeat to Blackpool in the Carling Cup before being replaced at 3-0 in the 6-0 loss at Anfield.
The Guinean has plenty of Championship experience, having played for Burnley and Wolves before his year at Parkhead.